Mekanisme Histerisis Darurat Untuk Artificial Potential Field (Apf) Pada Multi-Robot Omnidireksional

The APF method is well-suited for controlling omnidirectional multi-robot formations due to its simplicity. However, the resultant force—derived from repulsive forces that appear and disappear abruptly—can cause oscillations when a robot is near the threshold of its avoidance radius. This research proposes integrating an emergency hysteresis mechanism into the APF framework to mitigate such oscillations. The mechanism is defined by two threshold variables, and , without altering the underlying force structure. Once triggered by an interaction with a neighboring robot, the emergency mode remains active until a safe inter-robot distance is restored. Experiments were conducted using the Webots simulator with six omnidirectional Robotino robots, which maintained a hexagonal formation at a maximum speed of 3.7 m/s. The results demonstrate that this mechanism reduces steady-state position error, maintains a safe minimum distance well above the threshold, and transforms oscillations into a monotonic pattern as the robots approach their final targets. In conclusion, this mechanism is simple in design and effectively enhances the stability of the standard APF. From a practical, it can be directly incorporated into an APF-based system without imposing a significant computational burden. Future research should focus on validation using physical robots and involving dynamic obstacles.